Research on Obstacle Avoidance Path Planning Algorithm for Six-axis Robot
文献类型：会议论文
| 作者 | Shanshan Jiang; Haitao Fang; Kai He; Chaoyu Yan |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | Wuyi Mountain, Fujian, China |
| 英文摘要 | For the problem that the six-axis robot may collide with an obstacle in the working space during operation, the artifical potential field method is used to the obstacle avoidance path planing. Firstly, the robot is modeled by D-H parameter method, then the kinematics equation of the robot is established, and kinematic analysis is performed. Secondly, a simplified model of the manipulator and obstacle is established, and a collision-free path is planned for the manipulator according to the collision detection algorithm. Finally, the algorithm is verified by MFC programming combined with OpenGL development of six-axis manipulator simulation system. The system realizes three-dimensional graphic visualization of robot operation and simulation, which is of great significance to understand three-dimensional space, establish robot modeling, calculate direct and inverse solutions of kinematics and plan obstacle avoidance path. |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13754]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Shanshan Jiang,Haitao Fang,Kai He,et al. Research on Obstacle Avoidance Path Planning Algorithm for Six-axis Robot[C]. 见:. Wuyi Mountain, Fujian, China. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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